is a vector variable that defines the R (feed-forward path) polynomial of the Advanced Pole-Placement velocity controller (COMPMODE = 3). This vector includes three integers that represent the polynomial coefficients and three shift parameters, one that scales each polynomial. If this variable is changed, a REFRESH command is required.
NOTE: prior to firmware version 2.1.0, this command mnemonic was "R".
SYNTAX: VR
[r0] [r0shift] [r1] [r1shift] [r2]
[r2shift]
EXAMPLE: VR 10000 2 30000 4
50000 6
RANGES: rNvector = -2,147,483,647
to
2,147,483,647
rNshift = 0 to 32767
Firmware Versions: 2.1.0 and later (previously R)
Type: vector variable (R/W) Range: see above
Units: n/a Default: all 0’s
Opmodes: 0,1,4,8 Drive Status:
en/dis EEPROM: yes